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- Do multiple command on one command line.

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- Support jogging.
This commit is contained in:
Ron Sluiter
2004-01-13 20:59:36 +00:00
parent 79d02fbe7b
commit 7671bba225
1 changed files with 5 additions and 8 deletions
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motorApp/PiSrc/devPIC844.cc
+5 -8
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@@ -3,9 +3,9 @@ FILENAME... devPIC844.cc
USAGE... Motor record device level support for Physik Instrumente (PI)
GmbH & Co. C-844 motor controller.
Version: $Revision: 1.1 $
Version: $Revision: 1.2 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-01-07 15:00:06 $
Last Modified: $Date: 2004-01-13 20:59:36 $
*/
/*
@@ -131,6 +131,7 @@ static long PIC844_init_record(void *arg)
/* start building a transaction */
static long PIC844_start_trans(struct motorRecord *mr)
{
motor_start_trans_com(mr, PIC844_cards);
return(OK);
}
@@ -138,6 +139,7 @@ static long PIC844_start_trans(struct motorRecord *mr)
/* end building a transaction */
static RTN_STATUS PIC844_end_trans(struct motorRecord *mr)
{
motor_end_trans_com(mr, drvtabptr);
return(OK);
}
@@ -162,8 +164,6 @@ static RTN_STATUS PIC844_build_trans(motor_cmnd command, double *parms, struct m
/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
dval = (parms == NULL) ? 0.0 : *parms;
motor_start_trans_com(mr, PIC844_cards);
motor_call = &(trans->motor_call);
card = motor_call->card;
axis = motor_call->signal + 1;
@@ -258,7 +258,7 @@ static RTN_STATUS PIC844_build_trans(motor_cmnd command, double *parms, struct m
case JOG_VELOCITY:
case JOG:
send = false; /* No Jog. */
sprintf(buff, "TARG:VEL %.*f", maxdigits, cntrl_units);
break;
case SET_PGAIN:
@@ -293,9 +293,6 @@ static RTN_STATUS PIC844_build_trans(motor_cmnd command, double *parms, struct m
else if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
errlogMessage("PIC844_build_trans(): buffer overflow.\n");
else
{
strcat(motor_call->message, buff);
motor_end_trans_com(mr, drvtabptr);
}
return(rtnval);
}